Self Training Manual

DTPS for G2/G3

Model No. YA-1NPCD1 Series

Model number

YA-1NPCD1
YA-1NPCD1T01
YA-1NPCD1T02

programming & simulation

 Before operating this product, please read the instructions carefully and save this manual for future use.
Please read the operating instructions of peripheral equipment together with it.
 First of all, please read “Safety precautions”.
English version is the original instructions.

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1905
 Introduction
This document is a self training manual to practice and learn operation of “Integrated PC Tool Software” for Panasonic robot,
“PC editing and simulation function DTPS”.

This manual explains the following:

(1) Creating “Parts (Work) File”
(2) Configuring External Axis structure
(3) Creating ”Installation”
(4) Creating teaching data
(5) Simulating teaching data

Note
This document is using screen images from “G2 controller”. However relevant section is applied to all the applicable controller
types.

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Table of Contents 3.4 Add axis (axis2) ...................................... 15
3.5 Save and close........................................ 16

Introduction ............................................2 4. Creating installation space ............. 17

4.1 Start Installation Editor .......................... 17
1 Preparing data creation .....................4 4.2 Change robot model............................... 17
4.3 Tool model setting.................................. 19
1.1 Create installation link..............................4 4.4 Positioner layout .................................... 20
1.2 Adding Installation....................................5 4.5 Relate external axis number and model
1.3 Data administration tree...........................6 ...................................................................20
4.6 Set external axis parameter................... 21
2. Creating work file ...............................7 4.7 Save and close........................................ 22
2.1 Start parts editor .......................................7 4.8 Import robot setting from backup
2.2 Create cylinder pipe..................................7 (reference information) ........................... 23
2.3 Move cylinder pipe....................................8
2.4 Copy cylinder pipe....................................9 5. Creating program and simulation .. 24
2.5 Create cube ...............................................9 5.1 Start DTPS............................................... 24
2.6 Save and close part file ..........................10 5.2 Work location .......................................... 24
2.7 3D image operation.................................11 5.3 Register home position.......................... 26
2.7.1 transfer......................................................... 11 5.4 Teaching operation ................................ 27
2.7.2 rotate............................................................ 11 5.4.1 Teach home position and approach point.... 27
2.7.3 zoom in/zoom out ........................................ 11 5.4.2 Teach weld start point.................................. 28
2.7.4 Change view angle ...................................... 12 5.4.3 Teaching circular part .................................. 30
2.7.5 Fit to the screen ........................................... 12 5.4.4 Teach escape point and home position ....... 31
5.4.5 Change circular section to weld points ........ 31
3. Creating tilt rotate positioner ..........13 5.4.6 Register weld command .............................. 32
3.1 Activate External Axis Editor.................13 5.5 Store teaching data ................................ 34
3.2 Create base (fixed section) ....................13 5.6 Movement check and simulation .......... 35
3.3 Add axis (axis 1)......................................14

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 Preparing data creation

1 Preparing data creation

1.1 Create installation link
（1）Right click Installation and select “Add Installation
link”.

Tip
Choosing i-con same with i-con shown left side of
menu will also execute same operation.

The opposite way around, i-cons shown in the tool

bar are also shown left side of the menu.

（2）”Register the Installation Link” window is shown.

Press “Browse” and select Installation link.

（3）Create folder named “DTPS Training” under My Doc-

ument and Select created folder.
① Select My Document
② Press “Make New Folder” button
③ Type in “DTPS Training” while column is active
and press Enter.
④ Press “OK” while created folder is still
selected.

Tip
Data is stored in the folder specified as link folder.

（4）Press “OK” and screen will return to “Register the

Installation Link” window.

（5）Name of the selected folder will automatically stored

to “Installation Link Name” when no name is entered.
（6）Press “OK”.

Tip
Name entered in the “Installation Link Name” will be
shown on the display. Display name can be changed
buy changing link name.
Although, display name and actual folder name will
be different which may cause unconvenience when
finding actual folder.

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 Preparing data creation

（7）”Check” window is displayed. Press “Yes” to continue

the process.

Tip
“DTPS Training” folder just created is still not a
installation link condition.
Therefore, window to check link information creation
is displayed
This screen will not be shown when selected folder
already is a Installation link.

This completes Installation link creation.

Confirm that created Installation link is displayed in the
window.

Tip
Single Installation link can store multiple Installation
with different configuration.
Therefore there is no need to create new Installation
each time when creating a Installlation.

1.2 Adding Installation

（1）Right click “DTPS Training” in the Installation link and
select “Add Installation”

（2）”Add Installation” window is displayed.

・Name : “Training1”
・Robot : G3 Controller 1
Configure as written above and press “OK”.

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 Preparing data creation

（3）”Confirm” window to create Installation will be shown.

Press “Yes”.

（4）Created Installation is shown in the screen and right

side of the window will display screen for Installation.

1.3 Data administration tree

Data created in DTPS can be separated in to two hier-
archy, “Group” and “Object”.
“Default” setting can be used unless needed to be
changed.

Tip
Following image shows Hierarchy tree.

This document uses “Default” group and “Default”

object.

Installation Link

Installatoin

Group Group Group

Object Object Object

Program etc. Program etc. Program etc.

Object Object Object

Program etc. Program etc. Program etc.

See Operating Instructions (9.1 General) stored in the

start menu.

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 Creating work file

2. Creating work file

Part file is a file to create components needed for work or Installation.
Parts editor is used to edit part file.
Creating or editing can be done by selecting “Parts” button in the “Base”, “Group”, “Object” and “Independent” tab.
See Operating Instructions (9.2 Parts Editor) stored in the start menu for shapes that can be created.

2.1 Start parts editor

Double-click the Installation link “DTPS Training”. Select “Training1” in the installation.
Select “Parts” button in “group” tab and press “New”.

2.2 Create cylinder pipe

(1) Select ”Edit” > “Advanced functions” > “Create stan-
dard parts” to display “Create standard part(s)” win-
dow.

< Note >

If the software version is less than 3.05.00, select
”Edit” > “Create standard parts”.

Tip
Selecting “Standard parts” i-con can quickly display
“Create standard parts” window.

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 Creating work file

(2) Crated cylinder pype.

Select “Cylinder Pipe”
Set parameters as written below.
Thick : 6
Radius : 50
Height : 75
Color : Blue

Tip
Double click each value to edit each parameter.

(3) If displayed figure does not have a problem, press

“OK” and close “Create standard part(s)” window.
(4) Cylinder Pipe is added to the Elements.

2.3 Move cylinder pipe

(1) Right click created cylinder pipe in the elements bar
and select “Transfer”.

(2) Enter values to ”Shift” column in the displayed window.

Y : -150
Z : 250
Cylinder pipe will change location in 3D image.
(3) Press “OK” and ”Transfer Elements” window is
cleared.

Tip
Cylinder pipe will return to original position when
“Cancel” is selected.

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 Creating work file

2.4 Copy cylinder pipe

(1) Right click cylinder pipe in the Element List Bar and
select “Copy”.
(2) Right click at any location within Element List Bar and
select “Paste”.
(3) ”Paste Elements” window is displayed.
(4) Double click “X” and change display to “Y” in the “Mir-
ror” column of “Scale/Mirror” section. (Copied cylinder
pipe is displayed in the 3D image)
(5) Press “OK” button and ”Shift” window is cleared.

Tip
Copied cylinder pile is cleared and paste pro-
cess is cancelled when “Cancel” button is
selected.

2.5 Create cube

(1) Select “Cubic” i-con in the tool bar and display “Ele-
ment Edit” window.

(2) Press “Add” button 4 times.

(3) Type in coordinate value of 4 added points.

point 1 X = 150 Y = 250 Z = 0
point 2 X = 150 Y = -250 Z = 0
point 3 X = -150 Y = -250 Z = 0
point 4 X = -150 Y = 250 Z = 0

(4) Change attribute

Color : Green
Height (Z) : 250

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 Creating work file

(5) Press “OK”. ”Element edit” window is cleared and solid

model is displayed
(6) Hold down the Ctrl key and press “3D” view i-con.
(7) Work is displayed in 3D using entire screen.

Tip
Work will be displayed in 3D without changing the size
when “3D” view i-con is pressed without holding down
the Ctrl key.

2.6 Save and close part file

(1) Select “Save as” in the “File” menu and ”Save file” win-
dow is displayed when “save as” in the “file” menu is
selected.

(2) Type in “Work” for file name and select “OK”.

(3) Select ”Exit” in the “File” menu to end Parts Editor.

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 Creating work file

2.7 3D image operation

2.7.1 transfer
Move the mouse right to left, forward to reverse, holding
down left mouse button.

2.7.2 rotate
Move the mouse right to left, forward to reverse, holding
down right mouse button.

2.7.3 zoom in/zoom out

Roll mouse wheel forward or reverse to zoom image up or
down.

OM1011123E04 11
 Creating work file

2.7.4 Change view angle

(1) Upper view
Select “XY view” i-con in the tool bar.

(2) Front view

Select “YZ view” i-con in the tool bar.

(3) Side view

Select “ZX view” i-con in the tool bar.

(4) 3D view
Select “3D view” i-con in the tool bar.

2.7.5 Fit to the screen

Select “ Adjust view” i-con in the tool bar.

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 Creating tilt rotate positioner

3.Creating tilt rotate positioner

External axis file is a file to define external axis configuration.
Editing External axis file is done using External Axis Editor.
Creating and editing can be done by selecting “External Axis” button in the “Base” and ”Group” tab.
Also refer to Operating Instructions (10.3 External axis editor) stored in the start menu.

3.1 Activate External Axis Editor

Select “+” sign located on left side of Installation link “DTPS Training” and select installation “Training1”.
Select “External Axis” button in the “Group” tab and press “New”.

3.2 Create base (fixed section)

（1）Select “Base” in the “External Axis” bar.
（2）Double click “value” of “Model File” in the “Parame-
ter” bar.
（3）”Open the part or axis model file” window is dis-
played.

（4）Confirm that “Standard” folder is selected and select

“Roting and tilting positioner (300,500Kg) base”.
（5）Press “OK”.

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 Creating tilt rotate positioner

3.3 Add axis (axis 1)

（1）Right click “Base”.
（2）Select “Add axis” from the menu.
（3）”Axis [01]” is added.

（4）Select added “Axis [01]”.

（5）Double click “Value” of “Model File” in the “Parame-
ter” bar and display “Open the part or axis model file”
window.
（6）Confirm that “Standard” folder is selected and select
“Roting and tilting positioner (300,500Kg) body”.
（7）Press “OK”.

（8）Set following values in the “Parameter” bar.

Axis type : Rotation [Ry]
Pos [Z] : 450
Area [Min] : -135
Area [Max] : 135

Tip
Selected movement area is valid only under Exter-
nal Axis Editor. Area for actual external axis is set
within the robot.

（9）Slider located at bottom of “Parameter” bar can con-

firm model movement. Check parameter setting if
model moves unintentionally.

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 Creating tilt rotate positioner

3.4 Add axis (axis2)

（1）Right click “Axis [01]”.
（2）Select “Add axis” from the menu.
（3）”Axis [02]” is added.

（4）Select added “Axis [02]”.

（5）Double click “Value” of “Model File” in the “Parame-
ter” bar and display “Open the part or axis model file”
window.
（6）Confirm that “Standard” folder is selected and select
“Roting and tilting positioner (300,500Kg) turn table”.
（7）Press “OK”.

（8）Set following values in the “Parameter” bar.

Axis type : Rotation [Rz]
Pos [Z] : 150
Area [Min] : -360
Area [Max] : 360

Tip
Selected movement area is valid only under Exter-
nal Axis Editor. Area for actual external axis is set
within the robot.

（9）Slider located at bottom of “Parameter” bar can con-

firm model movement. Check parameter setting if
model moves unintentionally.

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 Creating tilt rotate positioner

3.5 Save and close

（1）Press FD i-con in the tool bar.

（2）”Save as” window is displayed. Input “Positioner “ for

file name and press “OK”.
（3）File is stored.

（4）Press [X] button on the upper right hand side of the

window to close External Axis Editor.

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 Creating installation space

4.Creating installation space

This section will explain about robot and external axis setting used in the Installation or locating layouts of robot control-
ler, workbench or safety fence.
Editing Installation is done using Installation Editor

4.1 Start Installation Editor

Select “+” sign located on left side of installation link “DTPS Training”, right click “Training1” and select “Edit Installation”.

4.2 Change robot model

（1）Double click “R001-ROBOT” in the “Robot” tab of
Composition Bar.

（2）”Robot information” window is displayed. Press

“Change manipulator” button in the “Robot” tab.

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 Creating installation space

（3）”Select Manipulator” window is displayed. Select

TA1400 and press “OK”.

（4）Manipulator type in “Robot information” will show

TA1400(G3).

（5）Press “OK” in the “Robot information” window.

“Robot information” window is cleared and displayed
robot is changed to TA1400.

Tip
Newer version DTPS uses TA1400 as standard. If
this is the case there is no need to change robot
model.

（6）Select “Position” tab in the Property bar and set fol-

lowing parameter.
Z : 900
（7）Displayed robot position is changed.

Tip
Adjust 3D display using Zoom, Rotate or Adjust view
function to fit the model inside the screen.
Refer to page 11 "3D image operation" if operation
is unclear.

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 Creating installation space

4.3 Tool model setting

（1）Select “R001-ROBOT” in the “Robot” tab of Compo-
sition Bar.
（2）Select “Tool” tab in the Property bar.
（3）Double click Tool 1.

（4）”Open the tool model” window is displayed.

（5）Confirm that “Standard” folder is selected and select
“Torch TA 350A Long”.
（6）Press “OK”.

（7）Window to confirm setting update is displayed.

（8）Press “Yes”.

（9）Selected tool is displayed.

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 Creating installation space

4.4 Positioner layout

（1）Select “External Axis” tab in the Composition Bar.
Right click inside the list.
（2）Select ”Add External Axis Model”.
（3）”Open the external axis model” window is displayed.
（4）Select “Group” in the Folder and select created
“Positioner”.
（5）Press “OK”.

（6）Select [001-Positioner.g2e] added in the list.

（7）Select “Position” tab in the property bar and set fol-
lowing parameter.
X : 1100
（8）External axis display position is changed.

Tip
Adjust 3D display using Zoom, Rotate or Adjust view
function to fit the model inside the screen.
Refer to page 11 "3D image operation" if operation
is unclear.

4.5 Relate external axis number and model

This section defines which part of external axis model moves when external axis position changes.
External axis will not move if this setting is not completed.

（1）Select “Robot” tab in the Composition Bar. Select

“R001-ROBOT” from the list.
（2）Select “External Axis Param” tab in the Property bar.
（3）Select external axis No.4
（4）Hold down the Ctrl key, select tilt axis model (indi-
cated by an arrow) of positioner.

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 Creating installation space

（5）Color of the part will turn red when selected and

information is stored in the Property bar of external
axis No.4.

（6）Select external axis No.5.

（7）Hold down the Ctrl key, select rotation model of the
positioner.

（8）Color of the part will turn red when selected and

information is stored in the Property bar of external
axis No.5.

4.6 Set external axis parameter

（1）Double click “R001-ROBOT” in the “Robot” tab of
Composition Bar.
（2）”Robot information” window is displayed. Select
“External Axis” tab.
（3）Select external axis No.4.
（4）Change Type to “Rotation/Tilt”.

（5）Change Servo parameter to “RJC71-500-2kW tilt”.

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 Creating installation space

（6）Select external axis No.5.

（7）Change Type to “Rotation\Tilt”.
（8）Change Servo parameter to “RJC71-500-2kW rota-
tion”.

（9）Select “Mechanism” tab.

（10）Confirm that “Mech1” is selected. Change G4 and
G5 setting to “Use”.
（11）Press “OK”.
（12）Setting is stored and Robot information window is
cleared.

4.7 Save and close

（1）Press FD i-con in the tool bar.
（2）Setting is stored.
（3）Press [X] button on the upper right hand side of the
window to close Installation Editor.

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 Creating installation space

4.8 Import robot setting from backup (reference information)

Robot model, tool offset or external axis parameter can be imported from robot backup file. This procedure can create
setting of an actual robot without typing in manually.

（1）Right click “R001_ROBOT” in the “Robot” tab of

Composition Bar and select “Import”.

（2）”Open the backup folder” window is displayed.

（3）Select backup folder.

Tip
“Import” window is quickly displayed if backup file is
imported in the past.
In this case, “Open the backup folder” window can
be shown by pressing “Browse” button.

（4）Press “Parameter & PRG” button.

Tip
“Parameter & PRG” button will import both setting
and program files.
Press “Parameter” button to only import setting.
Press “Program” button to only import program files.

（5）”Confirm” window is displayed to confirm parameter

import. Select “Yes”.
（6）After parameter import is completed, ”Confirm” win-
dow is displayed to confirm program file import.
Select “Yes”.

（7）Display will return to “Import” screen after program

file import is completed. Press “Close” and close the
window.

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 Creating program and simulation

5.Creating program and simulation

This section will explain about locating created work in the Installation and creating teach program by manipulating robot
in the screen.
Editing teach program is done using program editor (DTPS).

5.1 Start DTPS

（1）Double-click the Installation link “DTPS Training” and
select Installation “Training1”.
（2）Select “Program” button in the “Robot1” tab. Press
“New” button.

（3）”Settings of new program” window is displayed.

（4）Confirm that Mechanism and Tool number are both 1
and press “OK”.

（5）Program editor (DTPS) window is displayed.

5.2 Work location

（1）Select “Work” in the “View” menu.

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 Creating program and simulation

（2）”Work Setting” window is displayed.

（3）Double click “Value” of “File” column.

（4）”Open Work” window is displayed.

（5）Select “Group” in the Folder.
（6）Select created “Work” file.
（7）Press “OK”.

（8）Work is displayed in the screen.

（9）Double click “Value” of “Arrangement” in the “Work

Setting” window.
（10）Select “G5” from displayed list.

Tip
Work will be placed on the external axis by selecting
external axis number.
Input coordinate value from external axis rotation
plane, if work is located with an offset due to such as
jig.

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 Creating program and simulation

（11）Work will move on top of external axis.

（12）Press “OK” to close “Work Setting” window.

5.3 Register home position

（1）Select “Home position” in the “Edit” menu.
（2）”Home position list” window is displayed.

（3）Pressing “New” button will display standard value of

home position. “Name” will be editable.
（4）Input “Home1” and press enter.
（5）Double click “UA” of “Robot1” tab. Change value to “-
30”.
（6）Change “FA” value to “-30” as well.
（7）Press “OK” to store the setting and close the window.

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 Creating program and simulation

5.4 Teaching operation

5.4.1 Teach home position and approach point
（1）Right click the mouse at any location within program
bar select “Add Pose with move command”.
（2）”Add Pose and move command” window is dis-
played.

（3）Right click “Home” button in the “Robot1” tab.

（4）List of home position is displayed. Select created
“Home1”.
（5）Robot in the screen will change position to home
position.

Tip
This operation can change valid home position.
Selected home position name will be displayed on a
pop up screen when mouse cursor is placed at
“Home” button.

（6）Press “Add” button of “Add Pose and move com-

mand”. Window is cleared and move command
(MOVEP P001) is added.

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 Creating program and simulation

（7）Select “Add Pose with move command” from “Edit”

menu and open “Add pose and command” window.
Select “Cartesian” tab in the “Robot1” tab.
（8）Move tool to position above the work using arrow
button located right side of “X” and “Z” of “Robot1”
tab.

Tip
Robot can also be moved by holding down the Ctrl
key with Shift key and dragging (move mouse with
right mouse button pressed) red arrow in the direc-
tion of X or Z axis.
This operation can be used when window to change
robot position (in this case “Add pose and command”
window) is displayed.

（9）Press “Multi Add” button to add move command

(MOVEP P002).

Tip
“Multi Add” button will add move commands without
closing the window. Useful when adding multiple
points.
“Add” button will add move command and close win-
dow. Used when adding single point.
Use “Cancel” button when closing the window with-
out adding a point.

5.4.2 Teach weld start point

（1）Press “Change” button in the “Add pose and com-
mand” window to change adding move command.

（2）Display will change to “Modify move command” win-

dow.
（3）Change interpolation from MOVEP to MOVEL.
（4）Press “OK” and return to “Add pose and command”
window.

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 Creating program and simulation

（5）Enlarge work display image.

Tip
Refer to page 11 "3D image operation" if operation
is unclear.

（6）Select “Edge” from “Shading” menu to show edge

line.

Tip
Edge line can be easily shown or hidden by pressing
“Edge” i-con.
Choosing teach point is easier with edge line is
shown.

（7）Hold down the Ctrl key, select circle start point using
a mouse. (indicated by an arrow)
（8）Robot torch tool center will move to selected point.

（9）Select “Tool” tab in the “Robot1” tab.

（10）Select Pitch “100” button.
（11）Press left arrow button once, located on right side of
“X”.
（12）Robot torch tool center will move 100mm backwards.
（13）Add move command (MOVEL P003) by “Multi Add”
button.

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 Creating program and simulation

5.4.3 Teaching circular part

（1）Press “Change” button and display “Modify move
command” window. Change move command to
MOVEC.
（2）Press “OK”.
（3）Hold down the Ctrl key, select circle start point using
a mouse.
（4）Add (MOVEC P004) using “Multi Add” button.

（5）Hold down the Ctrl key, select circle middle point.

（6）Select “Cartesian” tab in the “Robot1” tab.
（7）Select Pitch “10” button.
（8）Press right arrow 9 times located right side of “U”.
Tool position is changed.
（9）Add (MOVEC P005) by “Multi Add” button.

（10）Holding down the Ctrl key, select circle end point

using the mouse.
（11）Select “Cartesian” tab in the “Robot1” tab. Press
right arrow 9 times located right side of “U”. Tool
position is changed.
（12）Press “Multi Add” button and add move command
(MOVEC P006).

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 Creating program and simulation

5.4.4 Teach escape point and home position

（1）Press “Change” button and display “Modify move
command” window. Change move command to
MOVEL.
（2）Select “Tool” tab in the “Robot1” tab.
（3）Select Pitch “100” button.
（4）Press left arrow button once, located on right side of
“X”.
（5）Robot torch tool center will move 100mm backwards.
（6）Add move command (MOVEL P007) using “Multi
Add” button.

（7）Press “Change” button and display “Modify move

command” window. Change move command to
MOVEP.
（8）Press “Home” button to move robot back to home
position.
（9）Add move command (MOVEP P008) using “Multi
Add” button.
（10）Press “Close” button to close “Add pose and com-
mand” window.

5.4.5 Change circular section to weld points

（1）Select first MOVEC command from taught data.
Select second MOVEC command by holding down
the Shift key.

（2）Right click within the selected MOVEC command

and select “Action/Speed modify” in the “Modify”.

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 Creating program and simulation

（3）”Action & Speed modify” window is displayed.

（4）Check “Weld Flag” on and select “Weld”.
（5）Press “OK”.

（6）Selected two MOVEC points will be changed to weld

points. Color of i-con in front of move commands will
turn red.

5.4.6 Register weld command

（1）Select first MOVEC command and right click mouse
button.
（2）Select “Add command”.

（3）”Add the Command” window is displayed.

（4）Select ARC-SET from command list.

Tip
Select any command from the list. Type in “ARC”
and selected command will change to a command
starting from ARC.

（5）Press “Multi Add” button.

（6）ARC-SET command is added with standard values.

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 Creating program and simulation

（7）Select ARC-ON from command list.

（8）Select "Multi Add” button.
（9）ARC-ON command is added with standard values.

（10）Press right arrow button twice to move current posi-

tion, located on upper part of ”Add the command”
window. Move the step position to third MOVEC
command.

（11）Select CRATER command from command list.

（12）Press “Multi Add” button.
（13）CRATER command is added with standard values.

（14）Select ARC-OFF command from command list.

（15）Press “Multi Add” button.
（16）ARC-OFF command added with standard values.

（17）Press “Close” and close “Add the command” win-

dow.

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 Creating program and simulation

（18）Double click added ARC-SET command.

（19）ARC-SET command editing window is displayed.
（20）Type in Amperage, Voltage and Speed values.
Amperage : 250 (A)
Voltage : 27.2 (V)
Speed : 0.50 (m/min)
（21）Press “OK”.

（22）Double click added CRATER command.

（23）CRATER command editing window is displayed.
（24）Type in Amperage, Voltage and Timer values.
Amperage : 200 (A)
Voltage : 20.7 (V)
Timer : 0.00 (s)
（25）Press “OK”.

5.5 Store teaching data

（1）Press FD i-con in the tool bar.

（2）”Save File” window is displayed. Type in “Prog0001”

for file name and press “OK”.
（3）File is stored.

34 OM1011123E04
 Creating program and simulation

5.6 Movement check and simulation

（1）Hold down the Ctrl key, press A key to select all
steps.

Tip
Select starting step and then selecting ending step
with Shift key held down will enable area selection.

（2）Select “Continuous Simulation” in the “Execute”

menu.

（3）Select interpolation and press “Execute” button.

Tip
【Interpolation skip number】
Calculates same interpolation with actual robot.
Skips display update as specified. When 5 is speci-
fied, display is updated once every 5 calculations.

【Interpolation number】
Executes simulation as specified. When 5 is speci-
fied, display is updated 5 times during calculation.

【1 step simulation mode】

Simulates step by step. This method can confirm
command execution result by each step.
This method is useful to confirm sequence command
execution result.

OM1011123E04 35
パナソニック スマートファクトリーソリューションズ株式会社
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Panasonic Smart Factory Solutions Co., Ltd.

2-7 Matsuba-cho, Kadoma City, Osaka 571-8502, Japan

© Panasonic Smart Factory Solutions Co., Ltd. 2012 Printed in Japan

OM1011123E04